ELK/Furnace/FurnaceRT/Equipments/Systems/HomeAll.cs

using Aitex.Core.RT.Device;
using Aitex.Core.RT.Routine;
using Aitex.Core.Util;
using MECF.Framework.Common.Equipment;
using System.Collections.Generic;

namespace FurnaceRT.Equipments.Systems
{
    public class HomeAll : IRoutine
    {
        List<List<IModuleDevice>> _lstModules = new List<List<IModuleDevice>>();
        List<IModuleDevice> _homingModules = new List<IModuleDevice>();

        public HomeAll()
        {

        }

        public Result Start(params object[] objs)
        {
            _lstModules.Clear();

            _lstModules.Add(new List<IModuleDevice>()
            {
                Singleton<EquipmentManager>.Instance.Modules[ModuleName.CarrierRobot] as IModuleDevice,
                Singleton<EquipmentManager>.Instance.Modules[ModuleName.WaferRobot] as IModuleDevice,
                //Singleton<EquipmentManager>.Instance.Modules[ModuleName.LP1] as IModuleDevice,
                //Singleton<EquipmentManager>.Instance.Modules[ModuleName.LP2] as IModuleDevice,
            });

            var lstModules = new List<IModuleDevice>();
            foreach (var device in Singleton<EquipmentManager>.Instance.Modules.Values)
            {
                if (device.Module == ModuleName.WaferRobot.ToString() || device.Module == ModuleName.CarrierRobot.ToString())
                    continue;
                lstModules.Add(device as IModuleDevice);
            }

            _lstModules.Add(lstModules);

            _homingModules.Clear();

            return Result.RUN;
        }

        public Result Monitor()
        {
            if (_homingModules.Count == 0 && _lstModules.Count == 0)
                return Result.DONE;

            if (_homingModules.Count > 0)
            {
                foreach (var module in _homingModules)
                {
                    if (module.IsError)
                        return Result.FAIL;

                    if (!module.IsReady)
                        return Result.RUN;
                }

                _homingModules.Clear();
                if (_lstModules.Count == 0)
                    return Result.DONE;
            }

            if (_homingModules.Count == 0)
            {
                foreach (var moduleEntity in _lstModules[0])
                {
                    if (!moduleEntity.Home(out string reason))
                        return Result.FAIL;

                    _homingModules.Add(moduleEntity);
                }

                _lstModules.RemoveAt(0);
            }


            return Result.RUN;
        }


        public void Abort()
        {

            Clear();
        }

        public void Clear()
        {
            _lstModules.Clear();
            _homingModules.Clear();
        }
    }
}